Publication
Motion Pattern Preserving IK Operating in the Motion Principal Coefficients Space
Publications associées (52)
Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot
Auke Ijspeert, Karen Ann J Mulleners, Kamilo Andres Melo Becerra, Alexandros Anastasiadis, Laura Isabel Paez Coy, Eric Daniel Tytell
Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...
2023Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control
Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez
In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...
2022Informed scenario-based RRT∗ for aircraft trajectory planning under ensemble forecasting of thunderstorms
Maryam Kamgarpour, Eduardo Andres Enderiz
Thunderstorms represent a major hazard for flights, as they compromise the safety of both the airframe and the passengers. To address trajectory planning under thunderstorms, three variants of the scenario-based rapidly exploring random trees (SB-RRTs) are ...
2021Towards a geometry independent traction-separation and angle relation due to large scale bridging in DCB configuration
Traction-separation relations due to large scale bridging in composites are very important in modeling their fracture response. Several works demonstrated that such relations are dependent upon the specimen's stiffness and loading conditions. Experimental ...
ELSEVIER SCI LTD2020Postural transitions detection and characterization in healthy and patient populations using a single waist sensor
Kamiar Aminian, Farzin Dadashi, Benoît Mariani, Arash Atrsaei
Background: Sit-to-stand and stand-to-sit transitions are frequent daily functional tasks indicative of muscle power and balance performance. Monitoring these postural transitions with inertial sensors provides an objective tool to assess mobility in both ...
2020An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks
Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...
2020Rigid foldability and mountain-valley crease assignments of square-twist origami pattern
Rigid foldability allows an origami pattern to fold about crease lines without twisting or stretching component panels. It enables folding of rigid materials, facilitating the design of foldable structures. Recent study shows that rigid foldability is affe ...
PERGAMON-ELSEVIER SCIENCE LTD2020SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot's flange. The calibration setup requires only ...
2019Patient Motion Using a Computerized Leg Brace in Everyday Locomotion Tasks
Exoskeletal systems are becoming a rehabilitation standard of care for persons with lower limb paralysis. As muscular dysfunctions affect a heterogeneous patient group, each individual develops their own strategy to negotiate everyday locomotion challenges ...
2019An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks
Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...
2019